Mitsubishi Electric PC36 Especificaciones

MITSUBISHI ELECTRICMITSUBISHI ELECTRICINDUSTRIAL AUTOMATIONMELSERVOServo Amplifiers and MotorsBeginners ManualMR-J4-A(-RJ)/A4(-RJ)MR-J4-B(-RJ)/B4(-RJ)

Safety GuidelinesIVSpecific safety information and precautionsThe following safety precautions are intended as a general guideline for using PLC syste

Installation and wiring Wiring examples4 - 42For connecting servo motor power wires, refer to “Servo Motor Instruction Manual (Vol. 3)”.Use a magnet

EM-Compatible Installation Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 434.11 EM-Compatible InstallationFast switching o

Installation and wiring EM-Compatible Installation4 - 444.11.2 WiringAll analog and digital signal cables should be shielded or routed in metal cable

EM-Compatible Installation Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 454.11.3 Optional EMC filtersEMC filters (mains

Installation and wiring EM-Compatible Installation4 - 46

Preparations StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 15Startup5.1 PreparationsBefore switching on the servo amplifier for the first

Startup Startup of servo amplifier series MR-J4-A(-RJ)5 - 25.2 Startup of servo amplifier series MR-J4-A(-RJ)5.2.1 Power on and off the servo amplif

Startup of servo amplifier series MR-J4-A(-RJ) StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 35.2.2 Stop of operationIf any of the follow

Startup Startup of servo amplifier series MR-J4-A(-RJ)5 - 45.2.3 Test operationBefore starting actual operation, perform test operation to make sure t

Startup of servo amplifier series MR-J4-A(-RJ) StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 55.2.4 Parameter settingIn the position contr

Safety GuidelinesBeginners Manual Servo Amplifiers MELSERVO J4 VSpecific safety precautionsbWARNING:● Install the servo equipment with full considera

Startup Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B5 - 65.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B5.3.1 Power o

Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B StartupBeginners Manual Servo Amplifiers MELSERVO J4 5 - 75.3.2 Stop of operationIf any

Startup Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B5 - 85.3.3 Test operationBefore starting actual operation, perform test operation t

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 16 Operation and Settings6.1

Operation and Settings Display and operation section of MR-J4-A series6 - 26.1.2 Display flowchart MR-J4-APress the “MODE” button once to shift to th

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 36.1.3 Status display mode M

Operation and Settings Display and operation section of MR-J4-A series6 - 4

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 5The displays in the frames

Operation and Settings Display and operation section of MR-J4-A series6 - 6The displays in the frames are the standard control modes in one cycle wit

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 76.1.4 Display flowchart MR-J

Safety GuidelinesVIStructureEnvironmentOperate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this pur-pose, i

Operation and Settings Display and operation section of MR-J4-A series6 - 8When the axis name is set to the servo amplifier using MR Configurator2, t

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 9Display transitionAfter sele

Operation and Settings Display and operation section of MR-J4-A series6 - 10The displays in the frames are from the cumulative feedback pulses of pos

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 11The displays in the frames

Operation and Settings Display and operation section of MR-J4-A series6 - 126.1.6 Display examples6.1.7 Changing the status display screenThe status

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 136.1.8 Alarm modeThe current

Operation and Settings Display and operation section of MR-J4-A series6 - 14NOTES Any mode screen displays the current alarm.Even during alarm occurre

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 156.1.9 Parameter modeParamet

Operation and Settings Display and operation section of MR-J4-A series6 - 16To shift to the next parameter, press the “UP” or “DOWN” button.When chang

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 176.1.10 Test operation modeM

Typographic ConventionsBeginners Manual Servo Amplifiers MELSERVO J4 VIITypographic ConventionsUse of notesNotes containing important information are

Operation and Settings Display and operation section of MR-J4-A series6 - 18JOG operationJOG operation can be performed when there is no command from

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 19Positioning operationPositi

Operation and Settings Display and operation section of MR-J4-A series6 - 20! Enable repeat operation To perform repeat operation, click the check. Th

Display and operation section of MR-J4-A series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 21Motor-less operationWithout

Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 226.2 Display and operation section of MR-J4-B(-RJ) seriesOn the servo

Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 236.2.2 Scrolling displa

Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 246.2.3 Display sequenceThe segment of the last 2 digits shows the axi

Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 256.2.4 Test operationBy

Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 26● Positioning operationPositioning operation can be performed without

Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 27● Output signal (DO) f

Typographic ConventionsVIII

Operation and Settings Display and operation section of MR-J4-B(-RJ) series6 - 286.2.5 Motor-less operation in controllerMotor-less operationWithout

Display and operation section of MR-J4-B(-RJ) series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 29Operation procedure S

Operation and Settings Display and operation section of MR-J4W-B series6 - 306.3 Display and operation section of MR-J4W-B seriesOn the servo amplifi

Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 316.3.2 Scrolling displayDis

Operation and Settings Display and operation section of MR-J4W-B series6 - 326.3.3 Display sequenceThe segment of the last 2 digits shows the axis nu

Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 336.3.4 Test operationBy usi

Operation and Settings Display and operation section of MR-J4W-B series6 - 34● Positioning operationPositioning operation can be performed without usi

Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 35● Output signal (DO) force

Operation and Settings Display and operation section of MR-J4W-B series6 - 366.3.5 Motor-less operation in controllerMotor-less operationWithout conn

Display and operation section of MR-J4W-B series Operation and SettingsBeginners Manual Servo Amplifiers MELSERVO J4 6 - 37Operation procedure Set t

Table of ContentsBeginners Manual Servo Amplifiers MELSERVO J4 1Table of Contents1 Introduction1.1 What is a servo amplifier?. . . . . . . . . . . .

Operation and Settings Display and operation section of MR-J4W-B series6 - 38

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 17 Parameters7.1 MR-J4-A7.1.1 Basic setting parametersbWARNING:● Never make a dr

Parameters MR-J4-A7 - 2Parameters PANo. Symbol NameInitial valueUnitOperation modeControl modeStandardFull.Lin.DDPSTPA01 *STY Operation mode 1000H—

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 3Description of basic setting parametersNumber Symbol Initial value Unit Setting

Parameters MR-J4-A7 - 4PA03 *ABS 0000HRefer to text PAbsolute position detection systemSet this parameter when using the absolute position detection s

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 5PA06 CMX 1 1–16777215 PElectronic gear numerator (command pulse multiplication n

Parameters MR-J4-A7 - 6PA08 ATU 0001HRefer to text P SAuto tuning modeGain adjustment mode selectionSetting value Gain adjustment mode Automatically a

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 7PA09 RSP 16 1–40 P SAuto tuning responseSet a response of the auto tuning.Settin

Parameters MR-J4-A7 - 8PA13 *PLSS 0100HRefer to text PCommand pulse input formSetting value Pulse train formForward rotation (positive direction) com

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 9PA14 *POL 0 0, 1 PRotation direction selection/travel direction selectionSelect

Table of Contents23.3 Direct drive servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameters MR-J4-A7 - 10PA17 *MSR 0000HRefer to text P S TServo motor series settingWhen you use a linear servo motor, select its model from parameter

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 11PA19 *BLK 00AAHRefer to text P S TParameter writing inhibitSelect a reference r

Parameters MR-J4-A7 - 12PA21 *AOP3 0001HRefer to text P (S)Function selection A-3PA23 DRAT 0000HRefer to text P S TDrive recorder arbitrary alarm trig

MR-J4-A ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 13PA26 *AOP5 0000HRefer to text P SFunction selection A-5Number Symbol Initial va

Parameters MR-J4-A-RJ7 - 147.2 MR-J4-A-RJ7.2.1 Basic setting parametersNOTES To enable a parameter whose symbol is preceded by *, cycle the power aft

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 15Parameters PANo. Symbol NameInitial valueUnitOperation modeControl modeSta

Parameters MR-J4-A-RJ7 - 16Description of basic setting parametersNumber Symbol Initial value Unit Setting rangeControl modePA01 *STY 1000HRefer to te

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 17PA03 *ABS 0000HRefer to text CP CL PSAbsolute position detection systemSetti

Parameters MR-J4-A-RJ7 - 18PA06 *CMX 1 1–16777215 CP CLElectronic gear numerator (command pulse multiplication numerator)Set an electronic gear numera

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 19PA08 ATU 0001HRefer to text CP CL PSAuto tuning modeGain adjustment mode sel

Table of Contents35.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65.3.1 Po

Parameters MR-J4-A-RJ7 - 20PA09 RSP 16 1–40 CP CL PSAuto tuning responseSet a response of the auto tuning.Setting valueMachine characteristicSetting v

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 21PA11 TLP 100.0 % 0.0–100.0 CP CL PSForward rotation torque limit/positive di

Parameters MR-J4-A-RJ7 - 22PA13 *PLSS 0100HRefer to text CP CLCommand pulse input formSetting value Pulse train formForward rotation (positive direct

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 23PA14 *POL 0 0, 1 CP CL PSRotation direction selection/travel direction selec

Parameters MR-J4-A-RJ7 - 24PA17 *MSR 0000HRefer to text CP CLServo motor series settingWhen you use a linear servo motor, select its model from parame

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 25PA19 *BLK 00AAHRefer to text CP CL PSParameter writing inhibitSelect a refer

Parameters MR-J4-A-RJ7 - 26PA21 *AOP3 0001HRefer to text CP CL PSFunction selection A-3PA23 DRAT 0000HRefer to text CP CL PSDrive recorder arbitrary a

MR-J4-A-RJ ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 27PA26 *AOP5 0000HRefer to text CP CL PSFunction selection A-5Number Symbol In

Parameters MR-J4-B(-RJ)7 - 287.3 MR-J4-B(-RJ)7.3.1 Basic setting parametersNOTES When you connect the amplifier to a servo system controller, servo p

MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 29Parameters PANo. Symbol NameInitial valueUnitOperation modeStandardFull.

Table of Contents48Troubleshooting8.1 Alarm and warning list MR-J4-A(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameters MR-J4-B(-RJ)7 - 30Description of basic setting parametersNumber Symbol Initial value Unit Setting rangePA01 **STY 1000HRefer to textOperati

MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 31PA03 *ABS 0000HRefer to textAbsolute position detection systemSet this par

Parameters MR-J4-B(-RJ)7 - 32PA08 ATU 0001HRefer to textAuto tuning modeGain adjustment mode selectionSetting value Gain adjustment mode Automatically

MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 33PA09 RSP 16 1–40Auto tuning responseSet a response of the auto tuning.Sett

Parameters MR-J4-B(-RJ)7 - 34PA14 *POL 0 0, 1Rotation direction selection/travel direction selectionThis is used to select a rotation direction or tra

MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 35PA17 **MSR 0000HRefer to textServo motor series settingWhen you use a line

Parameters MR-J4-B(-RJ)7 - 36PA19 *BLK 00ABHRefer to textParameter writing inhibitSelect a reference range and writing range of the parameter.Refer to

MR-J4-B(-RJ) ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 37PA20 *TDS 0000HRefer to textTough drive settingAlarms may not be avoided w

Parameters MR-J4-B(-RJ)7 - 38PA23 DRAT 0000HRefer to textDrive recorder arbitrary alarm trigger settingSetting example: To activate the drive recorder

MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 397.4 MR-J4W-B7.4.1 Basic setting parametersNOTES When you connect the amplifie

What is a servo amplifier? IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 11 IntroductionThis english document is the original instruc

Parameters MR-J4W-B7 - 40Parameters PANo. Symbol NameInitial valueUnitEach/ CommonOperation modeStandardFull.Lin.DDPA01 **STY Operation mode 1000H—E

MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 41Description of basic setting parametersNumber Symbol Initial value Unit Settin

Parameters MR-J4W-B7 - 42PA03 *ABS 0000HRefer to text EachAbsolute position detection systemSet this parameter when using the absolute position detect

MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 43PA08 ATU 0001HRefer to text EachAuto tuning modeGain adjustment mode selection

Parameters MR-J4W-B7 - 44PA09 RSP 16 1–40 EachAuto tuning responseSet a response of the auto tuning.Setting valueMachine characteristicSetting valueMa

MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 45PA14 *POL 0 0, 1 EachRotation direction selection/travel direction selectionTh

Parameters MR-J4W-B7 - 46PA17 **MSR 0000HRefer to text EachServo motor series settingWhen you use a linear servo motor, select its model from paramete

MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 47PA19 *BLK 00ABHRefer to text EachParameter writing inhibitSelect a reference r

Parameters MR-J4W-B7 - 48PA20 *TDS 0000HRefer to text EachTough drive settingAlarms may not be avoided with the tough drive function depending on the

MR-J4W-B ParametersBeginners Manual Servo Amplifiers MELSERVO J4 7 - 49PA23 DRAT 0000HRefer to text EachDrive recorder arbitrary alarm trigger settin

Introduction What is a servo amplifier?1 - 21.1.2 Function of a servo amplifierServo amplifiers are specially designed frequency inverters for drivin

Parameters Other parameters7 - 507.5 Other parametersOnly the basic setting parameters PA are described in this manual for beginners.The Appendix sh

Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 18 Troubleshooting8.1 Alarm and warning list MR

Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 2No.Alarm codeNameDetail numberDetail nameStop method , Alarm deactivationCN1-22(Bit 2)CN1-23

Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 3Alarm17 0 0 0 Board error17.1 Board error 1 DB

Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 4Alarm27 110Initial magnetic pole detection error27.1Initial magnetic pole detection - Abnormal

Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 5Alarm42 110Servo control error (for linear serv

Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 6Alarm61 101Operation error61.1 Point table setting range error DB ✔✔✔63 110STO timing error63

Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 7Leave for about 30 minutes of cooling time aft

Troubleshooting Alarm and warning list MR-J4-A(-RJ)8 - 8No. NameDetail numberDetail nameStop method , Warning90Home position return incomplete war

Alarm and warning list MR-J4-A(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 9Leave for about 30 minutes of cooling time aft

What is a servo amplifier? IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 31.1.3 Servo motorsToday servo motors are generally used to

Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 108.2 Alarm and warning list MR-J4-B(-RJ)When an error occurs during operation, the correspond

Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 11Alarm16Encoder initial communication error 116

Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 12Alarm20Encoder normal communication error 120.1Encoder normal communication - Receive data er

Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 13Alarm2A Linear encoder error 12A.1 Linear enco

Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 14Alarm45Main circuit device overheat 45.1 Main circuit device overheat error SD ✔ ✔ ✔ 46Se

Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 15Alarm70Load-side encoder initial communication

Troubleshooting Alarm and warning list MR-J4-B(-RJ)8 - 16Leave for about 30 minutes of cooling time after removing the cause of occurrence.In some c

Alarm and warning list MR-J4-B(-RJ) TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 17Leave for about 30 minutes of cooling time af

Troubleshooting Alarm and warning list MR-J4W-B8 - 188.3 Alarm and warning list MR-J4W-BWhen an error occurs during operation, the corresponding alar

Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 19Alarm15Memory error 2 (EEP-ROM)15.1 EEP-ROM error

Introduction What is a servo amplifier?1 - 41.1.4 Features of servo amplifiers and motors of the MELSERVO J4 seriesThe motion CPU controls the connec

Troubleshooting Alarm and warning list MR-J4W-B8 - 20Alarm20Encoder normal communication error 120.1Encoder normal communication - Receive data error

Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 21Alarm2A Linear encoder error 12A.1 Linear encoder

Troubleshooting Alarm and warning list MR-J4W-B8 - 22Alarm42 Servo control error42.1Servo control error by position deviationEach axis Each axis EDB ✔

Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 23Alarm63 STO timing error63.1 STO1 off Common All a

Troubleshooting Alarm and warning list MR-J4W-B8 - 24Leave for about 30 minutes of cooling time after removing the cause of occurrence.In some contr

Alarm and warning list MR-J4W-B TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 25No. NameDetail numberDetail nameProcessing syste

Troubleshooting Alarm and warning list MR-J4W-B8 - 26Leave for about 30 minutes of cooling time after removing the cause of occurrence.The following

Remedies for alarms TroubleshootingBeginners Manual Servo Amplifiers MELSERVO J4 8 - 278.4 Remedies for alarmsRemove the cause of the alarm in accord

Troubleshooting Remedies for warnings8 - 288.5 Remedies for warningsIf AL. E6, AL. E7, AL. E9, AL. EA, or AL. EB occurs, the servo-off status is esta

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 1AAppendixA.1 Additional information about

Environmental conditions IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 51.2 Environmental conditionsStore and use the servo amplifier

Appendix Additional information about the series MR-J4-AA - 2The status display item of the servo amplifier display shown at power-on can be changed b

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 3A.1.2 Basic setting parameters (PA)No.

Appendix Additional information about the series MR-J4-AA - 4A.1.3 Gain/filter setting parameters (PB)No. Symbol NameInitial valueUnitOperation mod

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 5PB37 —For manufacturer setting1600 — —————

Appendix Additional information about the series MR-J4-AA - 6A.1.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitOperation modeC

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 7PC35 TL2 Internal torque limit 2/internal

Appendix Additional information about the series MR-J4-AA - 8PC75 —For manufacturer setting0000H— ———————PC76 — 0000H— ———————PC77 — 0000H— ———————PC7

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 9A.1.5 I/O setting parameters (PD)No. Sy

Appendix Additional information about the series MR-J4-AA - 10PD43 —For manufacturer setting0000H— ———————PD44 — 0000H— ———————PD45 — 0000H— ———————PD

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 11A.1.6 Extension setting 2 parameters (PE

Introduction Terminology1 - 61.3 TerminologyThe terms and abbreviations below are important for servo amplifiers and are used frequently in this guide

Appendix Additional information about the series MR-J4-AA - 12PE42 —For manufacturer setting0 — ———————PE43 — 0.0 — ———————PE44 — 0000H— ———————PE45 —

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 13A.1.7 Extension setting 3 parameters (PF

Appendix Additional information about the series MR-J4-AA - 14PF43 —For manufacturer setting0000H— ———————PF44 — 0000H— ———————PF45 — 0000H— ———————PF

Additional information about the series MR-J4-A AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 15A.1.8 Linear servo motor/DD motor settin

Appendix Additional information about the series MR-J4-AA - 16PL41 —For manufacturer setting0000H— ———————PL42 — 0000H— ———————PL43 — 0000H— ———————PL

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 17A.2 Additional information about the

Appendix Additional information about the series MR-J4-A-RJA - 18Position within one-revolution (1000 pulse unit)Cy21000pulsesThe within one-revolutio

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 19Load-side encoder information 1 (1 pu

Appendix Additional information about the series MR-J4-A-RJA - 20CP: Positioning mode (point table method) CL: Positioning mode (program method) PS:

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 21A.2.2 Basic setting parameters (PA)

Terminology IntroductionBeginners Manual Servo Amplifiers MELSERVO J4 1 - 7Fully closed loop systemThe MR-J4-B(-RJ)/A(-RJ) servo amplifier is compati

Appendix Additional information about the series MR-J4-A-RJA - 22A.2.3 Gain/filter setting parameters (PB)NOTES To enable the following parameters

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 23PB29 GD2B Load to motor inertia ratio/

Appendix Additional information about the series MR-J4-A-RJA - 24A.2.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitOperation m

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 25PC34 CMX4 Command input pulse multipli

Appendix Additional information about the series MR-J4-A-RJA - 26PC76 —For manufacturer setting0000H— ———————PC77 — 0000H— ———————PC78 — 0000H— ——————

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 27A.2.5 I/O setting parameters (PD)No

Appendix Additional information about the series MR-J4-A-RJA - 28PD43 *DI11L Input device selection 11L 0000H— ———————PD44 *DI11H Input device selecti

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 29A.2.6 Extension setting 2 parameters

Appendix Additional information about the series MR-J4-A-RJA - 30PE42 —For manufacturer setting0 — ———————PE43 — 0.0 — ———————PE44 — 0000H— ———————PE4

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 31A.2.7 Extension setting 3 parameters

Introduction Terminology1 - 8

Appendix Additional information about the series MR-J4-A-RJA - 32PF42 —For manufacturer setting0 — ———————PF43 — 0 — ———————PF44 — 0000H— ———————PF45

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 33A.2.8 Linear servo motor/DD motor set

Appendix Additional information about the series MR-J4-A-RJA - 34PL40 —For manufacturer setting0000H— ———————PL41 — 0000H— ———————PL42 — 0000H— ——————

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 35A.2.9 Option setting parameters (Po

Appendix Additional information about the series MR-J4-A-RJA - 36A.2.10 Positioning control parameters (PT)No. Symbol NameInitial valueUnitOperatio

Additional information about the series MR-J4-A-RJ AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 37PT27 *ODM Operation mode selection 000

Appendix Additional information about the series MR-J4-B(-RJ)A - 38A.3 Additional information about the series MR-J4-B(-RJ)A.3.1 Status displayThe m

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 39A.3.2 Basic setting parameters (PA

Appendix Additional information about the series MR-J4-B(-RJ)A - 40A.3.3 Gain/filter setting parameters (PB)No. Symbol NameInitial valueUnitOperati

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 41PB41 —For manufacturer setting0 — ——

Servo amplifier series MR-J4-A(-RJ) Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 12 Introduction of the devices2.1 S

Appendix Additional information about the series MR-J4-B(-RJ)A - 42A.3.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitOperation

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 43It is available when the scale meas

Appendix Additional information about the series MR-J4-B(-RJ)A - 44A.3.5 I/O setting parameters (PD)No. Symbol NameInitial valueUnitOperation modeS

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 45PD43 —For manufacturer setting0000H—

Appendix Additional information about the series MR-J4-B(-RJ)A - 46A.3.6 Extension setting 2 parameters (PE)No. Symbol NameInitial valueUnitOperati

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 47PE43 —For manufacturer setting0.0 —

Appendix Additional information about the series MR-J4-B(-RJ)A - 48A.3.7 Extension setting 3 parameters (PF)No. Symbol NameInitial valueUnitOperati

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 49PF42 —For manufacturer setting0000H—

Appendix Additional information about the series MR-J4-B(-RJ)A - 50A.3.8 Linear servo motor/DD motor setting parameters (PL)No. Symbol NameInitial

Additional information about the series MR-J4-B(-RJ) AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 51PL41 —For manufacturer setting0000H—

Introduction of the devices Servo amplifier series MR-J4-B(-RJ)2 - 22.2 Servo amplifier series MR-J4-B(-RJ)Geräteansicht MR-J4-B(4).epsFig. 2-2: Mod

Appendix Additional information about the series MR-J4W-BA - 52A.4 Additional information about the series MR-J4W-BA.4.1 Status displayThe meanings

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 53A.4.2 Basic setting parameters (PA)No

Appendix Additional information about the series MR-J4W-BA - 54A.4.3 Gain/filter setting parameters (PB)No. Symbol NameInitial valueUnitEach/ Commo

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 55PB37 —For manufacturer setting1600 — — —

Appendix Additional information about the series MR-J4W-BA - 56A.4.4 Extension setting parameters (PC)No. Symbol NameInitial valueUnitEach/ CommonO

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 57It is available when the scale measurem

Appendix Additional information about the series MR-J4W-BA - 58A.4.5 I/O setting parameters (PD)No. Symbol NameInitial valueUnitEach/ CommonOperati

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 59PD43 —For manufacturer setting0000H— — —

Appendix Additional information about the series MR-J4W-BA - 60A.4.6 Extension setting 2 parameters (PE)No. Symbol NameInitial valueUnitEach/ Commo

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 61PE42 —For manufacturer setting0— — ————P

Servo amplifier series MR-J4W-B Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 32.3 Servo amplifier series MR-J4W-BGer

Appendix Additional information about the series MR-J4W-BA - 62A.4.7 Extension setting 3 parameters (PF)No. Symbol NameInitial valueUnitEach/ Commo

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 63PF42 —For manufacturer setting0000H— — —

Appendix Additional information about the series MR-J4W-BA - 64A.4.8 Linear servo motor/DD motor setting parameters (PL)No. Symbol NameInitial valu

Additional information about the series MR-J4W-B AppendixBeginners Manual Servo Amplifiers MELSERVO J4 A - 65PL41 —For manufacturer setting0000H— — —

Appendix Additional information about the series MR-J4W-BA - 66

IndexBeginners Manual Servo Amplifiers MELSERVO J4 1IndexAAlarm listMR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index2LLine filter1-phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-453-phase . . . . . . . . . . . . . . . . . . .

IndexBeginners Manual Servo Amplifiers MELSERVO J4 3SSafe Torque Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6Semi clo

Index4

About This ManualThe texts, illustration, diagrams and examples in this manual are provided forinformation purposes only. They are intended as aids to

Introduction of the devices Model designation and output power2 - 42.4 Model designation and output powerServo amplifiers up to MR-J4-70A or MR-J4-7

Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2

Combinations of servo amplifiers and servo motors Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 52.5 Combinations of

Introduction of the devices Combinations of servo amplifiers and servo motors2 - 6When the maximum torque is 400 %MR-J4-15KA(-RJ) MR-J4-15KB(-RJ)HG-J

Combinations of servo amplifiers and servo motors Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 72.5.2 400 V classWh

Introduction of the devices Removal and reinstallation of the front cover2 - 82.6 Removal and reinstallation of the front coverThe following shows ho

Removal and reinstallation of the front cover Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 9 Pull up the cover, supp

Introduction of the devices Removal and reinstallation of the front cover2 - 102.6.2 Reinstallation of the front cover Insert the front cover settin

Removal and reinstallation of the front cover Introduction of the devicesBeginners Manual Servo Amplifiers MELSERVO J4 2 - 11 Press the cover agains

Introduction of the devices Rating plate2 - 122.7 Rating plateThe following shows two examples of the rating plate for explanation of each item.2.7.1

Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 13 Introduction of the servo motorsThis chapt

Introduction of the servo motors Rotatory servo motors3 - 23.1.2 Rating plateThe rating plate of the servo motor HG-JR153 is shown below. This rating

Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 33.1.3 Servo motor series HG-MR and HG-KR● M

Introduction of the servo motors Rotatory servo motors3 - 4Model designation Fig. 3-3: Model designation of the servo motor series HG-MR and HG-KRZei

Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 53.1.4 Servo motor series HG-SRModel HG-SR –

Introduction of the servo motors Rotatory servo motors3 - 6Zeichnung HG-SR502B.eps Fig. 3-6: Servo motor series HG-SRNOTE Servo motors without electr

Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 73.1.5 Servo motor series HG-JRModel HG-JR –

Introduction of the servo motors Rotatory servo motors3 - 8Zeichnung HG-JR153B.eps Fig. 3-8: Servo motor series HG-JRNOTE Servo motors without electr

Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 93.1.6 Servo motor series HG-RRModel HG-RR –

Introduction of the servo motors Rotatory servo motors3 - 10The brake connector is combined with the power connector.Zeichnung HG-RR153B.eps Fig. 3-1

Rotatory servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 113.1.7 Servo motor series HG-URModel HG-UR

Beginners manual for servo amplifiersseries MR-J4-A, MR-J4-B and MR-J4W-BArt. no.: 280214 Version Revisions/Additions/CorrectionsA 10/2014 pdp - rw —

Introduction of the servo motors Rotatory servo motors3 - 12Zeichnung HG-UR352B.eps Fig. 3-12: Servo motor series HG-URNOTE Servo motors without elec

Linear servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 133.2 Linear servo motors3.2.1 Model overview3.

Introduction of the servo motors Linear servo motors3 - 143.2.3 Servo motor series LM-H3The core type linear servo motor LM-H3 is suitable for space-

Linear servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 153.2.4 Servo motor series LM-U2The characteri

Introduction of the servo motors Linear servo motors3 - 16Zeichnung LM-U2P2B-40M-2SS0.eps Fig. 3-19: Servo motor series LM-U2 (Primary side – coil)Po

Linear servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 173.2.5 Servo motor series LM-FThe linear serv

Introduction of the servo motors Linear servo motors3 - 183.2.6 Servo motor series LM-K2Due to the magnetic attraction counter-force structure the se

Direct drive servo motors Introduction of the servo motorsBeginners Manual Servo Amplifiers MELSERVO J4 3 - 193.3 Direct drive servo motors3.3.1 Mod

Introduction of the servo motors Direct drive servo motors3 - 203.3.3 Servo motor series TF-RFMThe magnetic design and winding technology of the serv

Wiring of power supply, motor and PE terminal Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 14 Installation and wiring4.1

Installation and wiring Wiring of power supply, motor and PE terminal4 - 2Power supply of MR-J4W2-22B to MR-J4W2-77B, MR-J4W3-222B and MR-J4W3-444BPow

Wiring of power supply, motor and PE terminal Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 3MCCB = Molded-case circuit b

Installation and wiring Wiring of power supply, motor and PE terminal4 - 4Abbreviation Termin al s DescriptionL1, L3Main circuit power supply(1-phase)

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 54.2 Connectors and signal arrangementsA

Installation and wiring Connectors and signal arrangements4 - 6Signal assignmentThe MR-J4-A(4)-RJ servo amplifiers have CN2L connectors.The device a

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 7I: Input signal, O: Output signalP: Po

Installation and wiring Connectors and signal arrangements4 - 8Pin No.SignalI/O I/O signals in control modes Pr.CP CL PS1 — P15R P15R P15R —2 I VC V

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 9I: input signal, O: output signalCP: P

Installation and wiring Connectors and signal arrangements4 - 10Meaning of the symbolsThe most important signals are explained in the table below. You

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 11Only for MR-J4-AOnly for MR-J4-A-RJ

Safety GuidelinesBeginners Manual Servo Amplifiers MELSERVO J4 ISafety GuidelinesGeneral safety information and precautionsFor use by qualified staff

Installation and wiring Connectors and signal arrangements4 - 124.2.2 Servo amplifier series MR-J4-BThe shown front view is that of servo amplifier M

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 13Signal assignmentThe MR-J4-B(4)-RJ se

Installation and wiring Connectors and signal arrangements4 - 14Meaning of symbolsThe most important signals are explained in the table below. You wil

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 154.2.3 Servo amplifier series MR-J4W-BT

Installation and wiring Connectors and signal arrangements4 - 16Signal assignmentFor the MR-J4 3-axis servo amplifier (MR-J4W3-B)Signal arrangement o

Connectors and signal arrangements Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 17Meaning of symbolsThe most important si

Installation and wiring Wiring the interfaces4 - 184.3 Wiring the interfaces4.3.1 I/O interfaces in negative logic (sink type)Digital input interface

Wiring the interfaces Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 194.3.2 I/O interfaces in positive logic (source type

Installation and wiring Wiring the interfaces4 - 204.3.3 Analog interfacesAnalog input (only MR-J4-A(-RJ))Analog output (only MR-J4-A(-RJ) and MR-J4-B

Communication function Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 214.4 Communication function4.4.1 Serial interface R

Safety GuidelinesII● Fire safety regulations● Accident prevention regulations–VBG Nr.4 Electrical systems and equipmentSafety warnings in this manualI

Installation and wiring Communication function4 - 224.4.2 USB interfaceThe servo amplifiers of the MR-J4 series have an USB communication interface. T

Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 234.5 Optical

Installation and wiring Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B)4 - 24NOTES Put a cap on CN1A and CN1B connector to protect the l

Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 254.6 Sett

Installation and wiring Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B)4 - 26Switch combination list for the control axis No. setting

Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 274.6.2 MR-

Installation and wiring Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B)4 - 28Switch combination list for the control axis No. setting

Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 29● MR-J4 3

Installation and wiring Disabling of control axes (only MR-J4W-B)4 - 304.7 Disabling of control axes (only MR-J4W-B)Turning “ON (up)” a disabling con

Servo motor Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 314.8 Servo motor4.8.1 Connecting the servo motorThe servo ampl

Safety GuidelinesBeginners Manual Servo Amplifiers MELSERVO J4 IIICompliance with EC directivesEU directives exist to facilitate free trade within th

Installation and wiring Servo motor4 - 32For power supply specifications, refer to section 4.1.For the MR-J4 3-axis servo amplifier (MR-J4W3-B)Be s

Servo motor Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 334.8.2 Servo motor with electromagnetic brakeNote the followin

Installation and wiring Servo motor4 - 34Do not use the 24 V DC interface power supply for the electromagnetic brake.Create the circuit in order to

Forced stop Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 354.9 Forced stop4.9.1 Forced stop deceleration functionWhen EM

Installation and wiring Wiring examples4 - 364.10 Wiring examplesWire the power supply/main circuit as shown below. Connect the 1-phase 200 V AC to 24

Wiring examples Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 37For the encoder cable, use of the option cable is recomme

Installation and wiring Wiring examples4 - 38The power factor improving AC reactor can also be used. In this case, the power factor improving DC reac

Wiring examples Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 394.10.2 Servo amplifier series MR-J4-B(-RJ)Between P3 and

Installation and wiring Wiring examples4 - 40When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circui

Wiring examples Installation and wiringBeginners Manual Servo Amplifiers MELSERVO J4 4 - 414.10.3 Multi axes servo amplifier series MR-J4W-BBetween